Configurable trunk shaker for the mechanical harvesting of different fruit branches

Trunk shakers perform a forced vibration that should be set according to tree species and architecture to efficiently detach fruits. However, manufacturing companies produce designs that are poorly customisable according to different trees. This work presents a prototype that is configurable in amplitude and frequency of vibration, which has been developed to generate the different vibration patterns required by various fruit trees. To study the feasibility of the developed technology, we built a test bench with a post, to which we fixed olive, almond and orange tree branches, and tested different configurations of the machine (frequencies from 12.25 to 20.75 Hz and eccentricities from 58 to 86 mm). Acceleration values were recorded at different points: the trunk shaker, the post in the grip, the top of the post, and in each branch. We recorded a large loss of acceleration transmissibility between the shaker and the post (20%–60%) due to existing frictions that dissipate energy through heat loss. There is a non-linear increase between vibration frequency and the resultant acceleration value recorded, as well as with increasing eccentricity. The shaker was able to provide a different vibration pattern in each configuration, affecting the transmission of vibration in each of the branches studied, for which mean acceleration transmissibility ranged between 82% (almond), 104% (olive) and 136% (orange).